CN116061178A - A control method of loading and unloading robot based on path planning - Google Patents

A control method of loading and unloading robot based on path planning Download PDF

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CN116061178A
CN116061178A CN202211696057.0A CN202211696057A CN116061178A CN 116061178 A CN116061178 A CN 116061178A CN 202211696057 A CN202211696057 A CN 202211696057A CN 116061178 A CN116061178 A CN 116061178A
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path
loading
robot
unloading
unloading robot
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杨一鸣
叶剑姿
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Moying Technology Nanjing Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention relates to the technical field of feeding and discharging robot control, and discloses a feeding and discharging robot control method based on path planning. According to the path planning-based control method for the loading and unloading robot, by means of moving path design of the loading and unloading robot, obstacles in the path process are avoided, the moving path planning scheme of the loading and unloading robot can be guaranteed, the safety distance is set, the moving safety of the moving robot is guaranteed, the running efficiency of the scheme is improved, meanwhile, track design is conducted on joint angles, joint angular velocities and joint angle acceleration of each point of the loading and unloading robot, and therefore the positioning accuracy of loading and unloading of the robot is improved.

Description

一种基于路径规划的上下料机器人控制方法A control method of loading and unloading robot based on path planning

技术领域technical field

本发明涉及上下料机器人控制技术领域，具体为一种基于路径规划的上下料机器人控制方法。The invention relates to the technical field of loading and unloading robot control, in particular to a method for controlling a loading and unloading robot based on path planning.

背景技术Background technique

数控机床作为制造系统中重要的组成部分，它的应用极大地提高了产品生产地效率和质量，而随着科技的发展，由机器人代替人完成机床上下料作业是该领域的发展趋势。将机器人的控制系统和机床的生产系统相结合有效地提高了生产效率、保证了产品质量，同时也避免了人身伤害。高质量的轨迹规划方案保证了机器人运动路径的平滑、稳定，这不仅使得机器人可以准确完成作业任务，还可以保证良好的运动平稳性和较小的机械磨损，避免对加工零件的损坏，智能机器人在工厂生产场景的应用备受关注。As an important part of the manufacturing system, CNC machine tools have greatly improved the efficiency and quality of product production. With the development of science and technology, it is a development trend in this field that robots replace humans to complete machine tool loading and unloading operations. Combining the control system of the robot with the production system of the machine tool effectively improves production efficiency, ensures product quality, and avoids personal injury at the same time. The high-quality trajectory planning scheme ensures the smooth and stable motion path of the robot, which not only enables the robot to complete the task accurately, but also ensures good motion stability and less mechanical wear, avoiding damage to the processed parts, intelligent robot The application in the factory production scene has attracted much attention.

如公开号为CN112550521A的专利公开了一种智慧工厂的智能上下料机器人，用于在工厂内运输料框，包括通信模块、控制模块、底座、安装于底座下方的驱动轮、安装于底座侧面的激光扫描传感器、超声波传感器和3D相机，以及安装于底座上方的料架和支架，所述的支架设置于料架上，用于放置控制终端，所述的料架内开设多个凹槽，用于放置料框，所述的凹槽与料框底部形状配合，所述的通信模块和控制模块分别设置于底座内部，所述的通信模块与控制终端连接，所述的控制模块分别与激光扫描传感器、超声波传感器和3D相机连接，与现有技术相比，本发明具有结构简单、灵活高效等优点。For example, the patent with the publication number CN112550521A discloses an intelligent loading and unloading robot for a smart factory, which is used to transport the material frame in the factory, including a communication module, a control module, a base, a drive wheel installed under the base, and a drive wheel installed on the side of the base. A laser scanning sensor, an ultrasonic sensor and a 3D camera, as well as a material rack and a bracket installed above the base, the bracket is arranged on the material rack for placing the control terminal, and multiple grooves are provided in the material rack for use For placing the material frame, the groove matches the shape of the bottom of the material frame, the communication module and the control module are respectively arranged inside the base, the communication module is connected to the control terminal, and the control module is respectively connected to the laser scanning The sensor, the ultrasonic sensor and the 3D camera are connected. Compared with the prior art, the present invention has the advantages of simple structure, flexibility and high efficiency.

目前现有的上下料机器人在使用过程中，对于高精度的作业需求，就需要引入更高阶多项式、样条曲线等，但在机械加工中复杂的生产环境以及机器人上下料阶段存在零件的磨损问题等，容易导致上下料机器人在运动过程中因加速度突变引起震动和冲击，从而使机器人在上下料作业运动中的平稳性差。At present, during the use of the existing loading and unloading robots, higher-order polynomials, spline curves, etc. need to be introduced for high-precision operation requirements, but in the complex production environment in machining and the parts are worn during the loading and unloading stage of the robot Problems, etc., are likely to cause vibration and shock caused by the sudden change of acceleration during the movement of the loading and unloading robot, so that the stability of the robot during the loading and unloading operation is poor.

发明内容Contents of the invention

(一)解决的技术问题(1) Solved technical problems

针对现有技术的不足，本发明提供了一种基于路径规划的上下料机器人控制方法。Aiming at the deficiencies of the prior art, the present invention provides a control method of a loading and unloading robot based on path planning.

(二)技术方案(2) Technical solution

为实现上述目的，本发明提供如下技术方案：一种基于路径规划的上下料机器人控制方法，包括以下步骤：In order to achieve the above object, the present invention provides the following technical solution: a method for controlling a loading and unloading robot based on path planning, comprising the following steps:

S1、对规划的移动路径进行预处理S1. Preprocessing the planned moving path

针对上下料机器人的外部几何特征，计算出上下料机器人运动过程中与周围障碍物的安全距离，在移动路径上以障碍物的边界点为中心、以安全距离为扩张半径形成圆形范围设置安全范围，并对其安全范围进行标记，然后针对上下料机器人移动路径进行路径设计，获得参考移动路径。According to the external geometric characteristics of the loading and unloading robot, the safety distance between the loading and unloading robot and the surrounding obstacles is calculated, and the safety distance is set on the moving path with the boundary point of the obstacle as the center and the safety distance as the expansion radius to form a circular range. range, and mark its safe range, and then design the path for the moving path of the loading and unloading robot to obtain a reference moving path.

S2、获取上下料机器人的参数信息S2. Obtain the parameter information of the loading and unloading robot

针对上下料机器人的结构，获得上下料机器人的D-H参数信息，得到上下料机器人连杆和关节的参数信息，参数信息包括：关节角、连杆偏距、连杆长度和连杆扭角。According to the structure of the loading and unloading robot, the D-H parameter information of the loading and unloading robot is obtained, and the parameter information of the connecting rod and joint of the loading and unloading robot is obtained. The parameter information includes: joint angle, connecting rod offset, connecting rod length and connecting rod torsion angle.

S3、获得初始路径S3, get the initial path

建立邻接矩阵，针对邻接矩阵对参考移动路径进行路径求解，得到初始路径。An adjacency matrix is established, and the reference moving path is calculated according to the adjacency matrix to obtain an initial path.

S4、上下料机器人轨迹规划S4. Trajectory planning of loading and unloading robot

机器人上料阶段采用五次多项式进行关节空间中上料轨迹规划，对关节加速度进行约束，计算个点的关节角、关节角速度、关节角加速度，机器人下料阶段，在运动路径上设置抬高点和降落点两个中间点，即设机器人的抓取点为A、抬高点为B、降落点为C、放置点位D，从A到B、C到D为机器人做上升或下降的垂直运动，只有机器人末端执行器的Z轴坐标发生变化，其各点对应的各关节角通过机器人逆运动学求解，BC段是机器人下料阶段的主要部分，对其使用七次多项式插值进行轨迹规划，并对关节加速度进行约束，计算个点的关节角、关节角速度、关节角加速度。In the feeding stage of the robot, a quintic polynomial is used to plan the feeding trajectory in the joint space, and the joint acceleration is constrained, and the joint angle, joint angular velocity, and joint angular acceleration of each point are calculated. In the feeding stage of the robot, the lifting point is set on the motion path There are two intermediate points between the robot and the landing point, that is, the grabbing point of the robot is A, the lifting point is B, the landing point is C, and the placement point is D. From A to B, C to D is the vertical direction for the robot to rise or fall. Movement, only the Z-axis coordinates of the robot’s end effector change, and the joint angles corresponding to each point are solved by the inverse kinematics of the robot. The BC segment is the main part of the robot’s feeding stage, and the seventh-order polynomial interpolation is used for trajectory planning. , and constrain the joint acceleration, calculate the joint angle, joint angular velocity, and joint angular acceleration of each point.

S5、完善路径规划S5. Improve path planning

对初始路径进行优化，并对初始路径进行邻域扩张，获得扩张路径，将扩张路径进行分段，得到n个分段路径，针对每个所述分段路径分别进行优化，将优化后的所述分段路径进行拼接，获得优化后的完整路径，并确定的机器人各关节角位移，确定上下料机器人的运动轨迹。Optimizing the initial path, and expanding the neighborhood of the initial path to obtain the expanded path, segmenting the expanded path to obtain n segmented paths, optimizing each segmented path, and dividing the optimized The above segmented path is spliced to obtain the optimized complete path, and the angular displacement of each joint of the robot is determined to determine the trajectory of the loading and unloading robot.

S6、上下料机器人控制运行S6. The loading and unloading robot controls the operation

智能上下料机器人处于待命区待命，当接收智能上料任务，智能上下料机器人移动至物料区领取物料，智能上下料机器人领料确认后，移动至上板位置进行上料，智能上下料机器人上料确认后，将空框带回物料区，并移动至待命区待命，当接收智能下料任务，上下料机器人移动至下料区，对其成品进行下料，下料完成后回到待命区进行待命。The intelligent loading and unloading robot is on standby in the standby area. When receiving the intelligent loading task, the intelligent loading and unloading robot moves to the material area to pick up the materials. After confirmation, bring the empty frame back to the material area and move to the standby area for standby. When receiving the intelligent unloading task, the loading and unloading robot moves to the unloading area to unload the finished product. After unloading is completed, return to the standby area for processing. standby.

优选的，所述S1中安全范围进行标记的内容包括对上下料机器人外部几何特征，计算上下料机器人的安全距离，并计算安全范围。Preferably, the content of marking the safety range in S1 includes calculating the safety distance of the loading and unloading robot based on the external geometric features of the loading and unloading robot, and calculating the safety range.

优选的，所述安全范围进行标记的内容包括还包括识别参考移动路径上障碍物的所有边界点，并获取每个障碍物的一个边界点的坐标，以障碍物的边界点为中心设置的圆形安全范围。Preferably, the content of marking the safety range includes identifying all boundary points of obstacles on the reference moving path, and obtaining the coordinates of a boundary point of each obstacle, and setting a circle centered on the boundary point of the obstacle shape security range.

优选的，所述S5中分段包括以下内容，确定每个所述分段路径的分段长度cd，检索所述初始路径上的各个路径点。Preferably, the segmentation in S5 includes the following content: determining the segment length cd of each segment path, and retrieving each path point on the initial path.

优选的，所述分段还包括获取每个所述分段路径中所有路径点的坐标，分别针对每个所述分段路径，计算坐标点中横向坐标与纵向坐标的最小值和最大值。Preferably, the segmentation further includes obtaining the coordinates of all path points in each of the segmented paths, and calculating the minimum and maximum values of the horizontal and vertical coordinates of the coordinate points for each of the segmented paths.

优选的，所述S5中需要设置所述分段路径的坐标矩阵，并删除每个所述分段路径上的冗余点，获得进一步优化后的分段路径。Preferably, in S5, the coordinate matrix of the segmented path needs to be set, and redundant points on each segmented route are deleted to obtain a further optimized segmented route.

优选的，所述分段路径中需要分别记录每个分段路径中每个路径点的坐标，获取每个路径点在参考移动路径中的坐标位置并记录。Preferably, the segmented path needs to record the coordinates of each path point in each segmented path, and obtain and record the coordinate position of each path point in the reference movement path.

优选的，所述分段路径上的路径点坐标依次放入路径坐标矩阵中，完成分段路径的拼接。Preferably, the path point coordinates on the segmented path are sequentially put into the path coordinate matrix to complete the splicing of the segmented paths.

(三)有益效果(3) Beneficial effects

与现有技术相比，本发明提供了一种基于路径规划的上下料机器人控制方法，具备以下有益效果：Compared with the prior art, the present invention provides a method for controlling a loading and unloading robot based on path planning, which has the following beneficial effects:

该一种基于路径规划的上下料机器人控制方法，通过对上下料机器人的进行移动路径设计，规避掉路径过程中的障碍物，能够保证上下料机器人运动安全性的移动机器人路径规划方案，降低了移动路径制作的难度与复杂度通过对移动路径进行预处理，设置安全距离，保证了移动机器人的运动安全性，并提高了方案的运行效率，并同时针对上下料机器人各点的关节角、关节角速度、关节角加速进行轨迹设计，得到的轨迹平滑度更高、冲击较小，进而保证了轨迹的精度，从而提高了机器人上下料的定位精度。The control method of the loading and unloading robot based on path planning can avoid obstacles in the path process by designing the moving path of the loading and unloading robot, and can ensure the safety of the loading and unloading robot. Difficulty and complexity of making moving path By preprocessing the moving path and setting the safety distance, the movement safety of the mobile robot is ensured, and the operation efficiency of the scheme is improved. Angular velocity and joint angular acceleration are used to design the trajectory, and the obtained trajectory has higher smoothness and less impact, thereby ensuring the accuracy of the trajectory, thereby improving the positioning accuracy of the robot's loading and unloading.

附图说明Description of drawings

附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。在附图中：The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description, and are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the attached picture:

图1为本发明流程示意图。Fig. 1 is a schematic flow chart of the present invention.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.

如图1所示，本发明提供了一种基于路径规划的上下料机器人控制方法，包括以下步骤：As shown in Figure 1, the present invention provides a method for controlling a loading and unloading robot based on path planning, comprising the following steps:

S1、对规划的移动路径进行预处理S1. Preprocessing the planned moving path

针对上下料机器人的外部几何特征，计算出上下料机器人运动过程中与周围障碍物的安全距离，在移动路径上以障碍物的边界点为中心、以安全距离为扩张半径形成圆形范围设置安全范围，并对其安全范围进行标记，然后针对上下料机器人移动路径进行路径设计，获得参考移动路径，其中安全范围进行标记的内容包括对上下料机器人外部几何特征，计算上下料机器人的安全距离，并计算安全范围，安全范围进行标记的内容包括还包括识别参考移动路径上障碍物的所有边界点，并获取每个障碍物的一个边界点的坐标，以障碍物的边界点为中心设置的圆形安全范围。According to the external geometric characteristics of the loading and unloading robot, the safety distance between the loading and unloading robot and the surrounding obstacles is calculated, and the safety distance is set on the moving path with the boundary point of the obstacle as the center and the safety distance as the expansion radius to form a circular range. range, and mark its safe range, and then design the path for the moving path of the loading and unloading robot to obtain a reference moving path. The content of marking the safe range includes calculating the safe distance of the loading and unloading robot for the external geometric features of the loading and unloading robot. And calculate the safety range, the content of marking the safety range includes identifying all boundary points of obstacles on the reference moving path, and obtaining the coordinates of a boundary point of each obstacle, and setting a circle centered on the boundary point of the obstacle shape security range.

S2、获取上下料机器人的参数信息S2. Obtain the parameter information of the loading and unloading robot

针对上下料机器人的结构，获得上下料机器人的D-H参数信息，得到上下料机器人连杆和关节的参数信息，参数信息包括：关节角、连杆偏距、连杆长度和连杆扭角。According to the structure of the loading and unloading robot, the D-H parameter information of the loading and unloading robot is obtained, and the parameter information of the connecting rod and joint of the loading and unloading robot is obtained. The parameter information includes: joint angle, connecting rod offset, connecting rod length and connecting rod torsion angle.

S3、获得初始路径S3, get the initial path

建立邻接矩阵，针对邻接矩阵对参考移动路径进行路径求解，得到初始路径。An adjacency matrix is established, and the reference moving path is calculated according to the adjacency matrix to obtain an initial path.

S4、上下料机器人轨迹规划S4. Trajectory planning of loading and unloading robot

机器人上料阶段采用五次多项式进行关节空间中上料轨迹规划，对关节加速度进行约束，计算个点的关节角、关节角速度、关节角加速度，机器人下料阶段，在运动路径上设置抬高点和降落点两个中间点，即设机器人的抓取点为A、抬高点为B、降落点为C、放置点位D，从A到B、C到D为机器人做上升或下降的垂直运动，只有机器人末端执行器的Z轴坐标发生变化，其各点对应的各关节角通过机器人逆运动学求解，BC段是机器人下料阶段的主要部分，对其使用七次多项式插值进行轨迹规划，并对关节加速度进行约束，计算个点的关节角、关节角速度、关节角加速度。In the feeding stage of the robot, a quintic polynomial is used to plan the feeding trajectory in the joint space, and the joint acceleration is constrained, and the joint angle, joint angular velocity, and joint angular acceleration of each point are calculated. In the feeding stage of the robot, the lifting point is set on the motion path There are two intermediate points between the robot and the landing point, that is, the grabbing point of the robot is A, the lifting point is B, the landing point is C, and the placement point is D. From A to B, C to D is the vertical direction for the robot to rise or fall. Movement, only the Z-axis coordinates of the robot’s end effector change, and the joint angles corresponding to each point are solved by the inverse kinematics of the robot. The BC segment is the main part of the robot’s feeding stage, and the seventh-order polynomial interpolation is used for trajectory planning. , and constrain the joint acceleration, calculate the joint angle, joint angular velocity, and joint angular acceleration of each point.

S5、完善路径规划S5. Improve path planning

对初始路径进行优化，并对初始路径进行邻域扩张，获得扩张路径，将扩张路径进行分段，得到n个分段路径，针对每个分段路径分别进行优化，将优化后的分段路径进行拼接，获得优化后的完整路径，并确定的机器人各关节角位移，确定上下料机器人的运动轨迹，其中分段包括以下内容，确定每个分段路径的分段长度cd，检索初始路径上的各个路径点，分段还包括获取每个分段路径中所有路径点的坐标，分别针对每个分段路径，计算坐标点中横向坐标与纵向坐标的最小值和最大值，需要设置分段路径的坐标矩阵，并删除每个分段路径上的冗余点，获得进一步优化后的分段路径。Optimize the initial path, and expand the neighborhood of the initial path to obtain the expanded path, segment the expanded path to obtain n segmented paths, optimize each segmented path separately, and divide the optimized segmented path Perform splicing to obtain the optimized complete path, and determine the angular displacement of each joint of the robot, determine the motion trajectory of the loading and unloading robot, where the segmentation includes the following content, determine the segment length cd of each segment path, and retrieve the initial path For each path point, segmenting also includes obtaining the coordinates of all path points in each segmented path, and calculating the minimum and maximum values of the horizontal coordinates and vertical coordinates in the coordinate points for each segmented path, and the segmentation needs to be set The coordinate matrix of the path, and delete redundant points on each segmented path to obtain a further optimized segmented path.

分段路径中需要分别记录每个分段路径中每个路径点的坐标，获取每个路径点在参考移动路径中的坐标位置并记录，分段路径上的路径点坐标依次放入路径坐标矩阵中，完成分段路径的拼接。In the segmented path, the coordinates of each path point in each segmented path need to be recorded separately, and the coordinate position of each path point in the reference movement path is obtained and recorded. The coordinates of the path points on the segmented path are sequentially put into the path coordinate matrix , complete the splicing of segmented paths.

S6、上下料机器人控制运行S6. The loading and unloading robot controls the operation

智能上下料机器人处于待命区待命，当接收智能上料任务，智能上下料机器人移动至物料区领取物料，智能上下料机器人领料确认后，移动至上板位置进行上料，智能上下料机器人上料确认后，将空框带回物料区，并移动至待命区待命，当接收智能下料任务，上下料机器人移动至下料区，对其成品进行下料，下料完成后回到待命区进行待命。The intelligent loading and unloading robot is on standby in the standby area. When receiving the intelligent loading task, the intelligent loading and unloading robot moves to the material area to pick up the materials. After confirmation, bring the empty frame back to the material area and move to the standby area for standby. When receiving the intelligent unloading task, the loading and unloading robot moves to the unloading area to unload the finished product. After unloading is completed, return to the standby area for processing. standby.

在本实施例中，通过对上下料机器人的进行移动路径设计，规避掉路径过程中的障碍物，能够保证上下料机器人运动安全性的移动机器人路径规划方案，降低了移动路径制作的难度与复杂度通过对移动路径进行预处理，设置安全距离，保证了移动机器人的运动安全性，并提高了方案的运行效率，并同时针对上下料机器人各点的关节角、关节角速度、关节角加速进行轨迹设计，得到的轨迹平滑度更高、冲击较小，进而保证了轨迹的精度，从而提高了机器人上下料的定位精度。In this embodiment, by designing the moving path of the loading and unloading robot, avoiding obstacles in the path process, the mobile robot path planning scheme that can ensure the safety of the loading and unloading robot movement reduces the difficulty and complexity of making the moving path By preprocessing the moving path and setting the safety distance, the motion safety of the mobile robot is guaranteed, and the operation efficiency of the scheme is improved. At the same time, the joint angle, joint angular velocity, and joint angular acceleration of each point of the loading and unloading robot are tracked. Design, the obtained trajectory has higher smoothness and less impact, thereby ensuring the accuracy of the trajectory, thereby improving the positioning accuracy of the robot's loading and unloading.

下面具体说一下该一种基于路径规划的上下料机器人控制方法的工作原理。The working principle of this path planning-based loading and unloading robot control method will be described in detail below.

如图1所示，使用时通过对上下料机器人的进行移动路径设计，规避掉路径过程中的障碍物，能够保证上下料机器人运动安全性的移动机器人路径规划方案，降低了移动路径制作的难度与复杂度通过对移动路径进行预处理，设置安全距离，保证了移动机器人的运动安全性，并提高了方案的运行效率，并同时针对上下料机器人各点的关节角、关节角速度、关节角加速进行轨迹设计，得到的轨迹平滑度更高、冲击较小，进而保证了轨迹的精度，从而提高了机器人上下料的定位精度。As shown in Figure 1, the mobile robot path planning scheme that can ensure the safety of the loading and unloading robot movement by designing the moving path of the loading and unloading robot to avoid obstacles in the path process reduces the difficulty of making the moving path By preprocessing the moving path and setting the safety distance, the motion safety of the mobile robot is ensured, and the operation efficiency of the scheme is improved. At the same time, the joint angle, joint angular velocity, and joint angular acceleration of each point of the loading and unloading robot are targeted. Through trajectory design, the obtained trajectory has higher smoothness and less impact, thereby ensuring the accuracy of the trajectory, thereby improving the positioning accuracy of the robot's loading and unloading.

Claims (8)

1.一种基于路径规划的上下料机器人控制方法，其特征在于，包括以下步骤：1. A method for controlling a loading and unloading robot based on path planning, characterized in that, comprising the following steps: S1、对规划的移动路径进行预处理S1. Preprocessing the planned moving path 针对上下料机器人的外部几何特征，计算出上下料机器人运动过程中与周围障碍物的安全距离，在移动路径上以障碍物的边界点为中心、以安全距离为扩张半径形成圆形范围设置安全范围，并对其安全范围进行标记，然后针对上下料机器人移动路径进行路径设计，获得参考移动路径；According to the external geometric characteristics of the loading and unloading robot, the safety distance between the loading and unloading robot and the surrounding obstacles is calculated, and the safety distance is set on the moving path with the boundary point of the obstacle as the center and the safety distance as the expansion radius to form a circular range. range, and mark its safe range, and then design the path for the moving path of the loading and unloading robot to obtain a reference moving path; S2、获取上下料机器人的参数信息S2. Obtain the parameter information of the loading and unloading robot 针对上下料机器人的结构，获得上下料机器人的D-H参数信息，得到上下料机器人连杆和关节的参数信息，参数信息包括：关节角、连杆偏距、连杆长度和连杆扭角；According to the structure of the loading and unloading robot, the D-H parameter information of the loading and unloading robot is obtained, and the parameter information of the connecting rod and joint of the loading and unloading robot is obtained. The parameter information includes: joint angle, connecting rod offset distance, connecting rod length and connecting rod torsion angle; S3、获得初始路径S3, get the initial path 建立邻接矩阵，针对邻接矩阵对参考移动路径进行路径求解，得到初始路径；Establish an adjacency matrix, solve the path for the reference moving path according to the adjacency matrix, and obtain the initial path; S4、上下料机器人轨迹规划S4. Trajectory planning of loading and unloading robot 机器人上料阶段采用五次多项式进行关节空间中上料轨迹规划，对关节加速度进行约束，计算个点的关节角、关节角速度、关节角加速度，机器人下料阶段，在运动路径上设置抬高点和降落点两个中间点，即设机器人的抓取点为A、抬高点为B、降落点为C、放置点位D，从A到B、C到D为机器人做上升或下降的垂直运动，只有机器人末端执行器的Z轴坐标发生变化，其各点对应的各关节角通过机器人逆运动学求解，BC段是机器人下料阶段的主要部分，对其使用七次多项式插值进行轨迹规划，并对关节加速度进行约束，计算个点的关节角、关节角速度、关节角加速度；In the feeding stage of the robot, a quintic polynomial is used to plan the feeding trajectory in the joint space, and the joint acceleration is constrained, and the joint angle, joint angular velocity, and joint angular acceleration of each point are calculated. In the feeding stage of the robot, the lifting point is set on the motion path There are two intermediate points between the robot and the landing point, that is, the grabbing point of the robot is A, the lifting point is B, the landing point is C, and the placement point is D. From A to B, C to D is the vertical direction for the robot to rise or fall. Movement, only the Z-axis coordinates of the robot’s end effector change, and the joint angles corresponding to each point are solved by the inverse kinematics of the robot. The BC segment is the main part of the robot’s feeding stage, and the seventh-order polynomial interpolation is used for trajectory planning. , and constrain the joint acceleration, calculate the joint angle, joint angular velocity, and joint angular acceleration of each point; S5、完善路径规划S5. Improve path planning 对初始路径进行优化，并对初始路径进行邻域扩张，获得扩张路径，将扩张路径进行分段，得到n个分段路径，针对每个所述分段路径分别进行优化，将优化后的所述分段路径进行拼接，获得优化后的完整路径，并确定的机器人各关节角位移，确定上下料机器人的运动轨迹；Optimizing the initial path, and expanding the neighborhood of the initial path to obtain the expanded path, segmenting the expanded path to obtain n segmented paths, optimizing each segmented path, and dividing the optimized Splice the above segmented path to obtain the optimized complete path, and determine the angular displacement of each joint of the robot to determine the motion trajectory of the loading and unloading robot; S6、上下料机器人控制运行S6. The loading and unloading robot controls the operation 智能上下料机器人处于待命区待命，当接收智能上料任务，智能上下料机器人移动至物料区领取物料，智能上下料机器人领料确认后，移动至上板位置进行上料，智能上下料机器人上料确认后，将空框带回物料区，并移动至待命区待命，当接收智能下料任务，上下料机器人移动至下料区，对其成品进行下料，下料完成后回到待命区进行待命。The intelligent loading and unloading robot is on standby in the standby area. When receiving the intelligent loading task, the intelligent loading and unloading robot moves to the material area to pick up the materials. After confirmation, bring the empty frame back to the material area and move to the standby area for standby. When receiving the intelligent unloading task, the loading and unloading robot moves to the unloading area to unload the finished product. After unloading is completed, return to the standby area for processing. standby. 2.根据权利要求1所述的一种基于路径规划的上下料机器人控制方法，其特征在于：所述S1中安全范围进行标记的内容包括对上下料机器人外部几何特征，计算上下料机器人的安全距离，并计算安全范围。2. A method for controlling a loading and unloading robot based on path planning according to claim 1, wherein the content of marking the safety range in the S1 includes calculating the safety of the loading and unloading robot for the external geometric characteristics of the loading and unloading robot. distance, and calculate the safe range. 3.根据权利要求2所述的一种基于路径规划的上下料机器人控制方法，其特征在于：所述安全范围进行标记的内容包括还包括识别参考移动路径上障碍物的所有边界点，并获取每个障碍物的一个边界点的坐标，以障碍物的边界点为中心设置的圆形安全范围。3. A method for controlling a loading and unloading robot based on path planning according to claim 2, wherein the content of marking the safety range includes identifying all boundary points of obstacles on the reference moving path, and obtaining The coordinates of a boundary point of each obstacle, and the circular safety range set with the boundary point of the obstacle as the center. 4.根据权利要求1所述的一种基于路径规划的上下料机器人控制方法，其特征在于：所述S5中分段包括以下内容，确定每个所述分段路径的分段长度cd，检索所述初始路径上的各个路径点。4. A kind of control method of loading and unloading robot based on path planning according to claim 1, characterized in that: the segmentation in the S5 includes the following content, determining the segmentation length cd of each of the segmentation paths, and retrieving Each waypoint on the initial path. 5.根据权利要求4所述的一种基于路径规划的上下料机器人控制方法，其特征在于：所述分段还包括获取每个所述分段路径中所有路径点的坐标，分别针对每个所述分段路径，计算坐标点中横向坐标与纵向坐标的最小值和最大值。5. A method for controlling a loading and unloading robot based on path planning according to claim 4, characterized in that: the segmentation also includes obtaining the coordinates of all path points in each of the segmented paths, respectively for each The segmented path calculates the minimum and maximum values of the horizontal and vertical coordinates of the coordinate points. 6.根据权利要求1所述的一种基于路径规划的上下料机器人控制方法，其特征在于：所述S5中需要设置所述分段路径的坐标矩阵，并删除每个所述分段路径上的冗余点，获得进一步优化后的分段路径。6. A method for controlling a loading and unloading robot based on path planning according to claim 1, characterized in that: the coordinate matrix of the segmented path needs to be set in the S5, and each of the segmented paths is deleted. Redundant points of , to obtain a further optimized segmented path. 7.根据权利要求6所述的一种基于路径规划的上下料机器人控制方法，其特征在于：所述分段路径中需要分别记录每个分段路径中每个路径点的坐标，获取每个路径点在参考移动路径中的坐标位置并记录。7. A method for controlling a loading and unloading robot based on path planning according to claim 6, characterized in that: the segmented path needs to record the coordinates of each path point in each segmented path respectively, and obtain each The coordinate position of the waypoint in the reference movement path is recorded. 8.根据权利要求6所述的一种基于路径规划的上下料机器人控制方法，其特征在于：所述分段路径上的路径点坐标依次放入路径坐标矩阵中，完成分段路径的拼接。8. A control method for a loading and unloading robot based on path planning according to claim 6, characterized in that: the coordinates of the path points on the segmented path are sequentially put into the path coordinate matrix to complete the splicing of the segmented paths.
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